The San Pedro was one of three ships in Pedro Fernández de Quirós' seventeen-month expedition to find 'Terra Australis'. The other two ships were the San Pedro y San Pablo and Los Tres Reyes. The commander of the San Pedro, Luis Baéz de Torres sailed through the strait separating New Guinea from Australia's Cape York Peninsula in 1606, two months after Duyfken had. This strait would be known as Torres Strait after 1775, five years after James Cook passed through the same strait in HMS Endeavour in his quest to find 'Terra Australis'.